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Abstract
Samenvatting van WO2006125282
The present invention is related to an articulated joint usable in e.g. robotics and rehabilitation, consisting of a first and second body, rotatably connected to each other, and comprising a third body, equally rotatable around a rotation axis, wherein the third body acts as a lever arm. This lever arm is connected via a spring to a pre-tension mechanism, which may be mounted on the second body, while the rotation of the lever arm with respect to the first body is controlled by an actuator. This construction leads to a joint wherein the position can be controlled independently from the compliance of the joint, thereby yielding a mechanism with improved characteristics compared to existing designs.
The present invention is related to an articulated joint usable in e.g. robotics and rehabilitation, consisting of a first and second body, rotatably connected to each other, and comprising a third body, equally rotatable around a rotation axis, wherein the third body acts as a lever arm. This lever arm is connected via a spring to a pre-tension mechanism, which may be mounted on the second body, while the rotation of the lever arm with respect to the first body is controlled by an actuator. This construction leads to a joint wherein the position can be controlled independently from the compliance of the joint, thereby yielding a mechanism with improved characteristics compared to existing designs.
| Original language | English |
|---|---|
| Patent number | WO2006125282 |
| Publication status | Published - 30 Nov 2006 |
Keywords
- joint
- rotational
- compliance
- stiffness
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Compliant actuator designs: Review of Actuators with Passive Adjustable Compliance/Controllable Stiffness for Robotic Applications
Van Ham, R., Sugar, T., Vanderborght, B., Hollander, K., Lefeber, D. & Stramigioli, S. (ed.), 9 Jan 2009, In: IEEE Robotics and Automation Magazine. 16, 3, p. 81-94 14 p.Research output: Contribution to journal › Article › peer-review
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MACCEPA, the Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator: A 3DOF Joint with 2 independent Compliances
Van Ham, R., Van Damme, M., Verrelst, B., Vanderborght, B. & Lefeber, D., 1 Apr 2007, In: International Applied Mechanics. 43, p. 467-474 8 p.Research output: Contribution to journal › Article › peer-review
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Compliant actuation in New Robotic Applications
Beyl, P., Vanderborght, B., Van Ham, R., Van Damme, M., Versluys, R. & Lefeber, D., 2006, Proceedings of the 7th National Congress on Theoretical and Applied Mechanics NCTAM2006. NCTAM06 -- 7th National Congress on Theoretical and Applied Mechanics, May 29th and 30th 2006, Mons, Belgium.Research output: Chapter in Book/Report/Conference proceeding › Conference paper